<?xml version="1.0"?>
<launch>
    <!-- Posix SITL MAVROS integration tests -->
    <!-- Test offboard local posistion and attitude control with optical flow iris -->
    <arg name="est" default="ekf2"/>
    <arg name="gui" default="false"/>
    <arg name="interactive" default="false"/>
    <!-- MAVROS, PX4 SITL, Gazebo -->
    <include file="$(find px4)/launch/mavros_posix_sitl.launch">
        <arg name="est" value="$(arg est)"/>
        <arg name="gui" value="$(arg gui)"/>
        <arg name="interactive" value="$(arg interactive)"/>
        <arg name="respawn_gazebo" value="true"/>
        <arg name="respawn_mavros" value="true"/>
        <arg name="vehicle" value="iris_opt_flow"/>
        <arg name="verbose" value="true"/>
    </include>
    <!-- ROStest -->
    <test test-name="mavros_flow_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="300.0"/>
    <test test-name="mavros_flow_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" time-limit="300.0"/>
</launch>
